Epson LS20 Series Manipulator Manual page 58

Setup & Operation 4. Setting of End Effectors
Eccentric Quantity and the Inertia Setting
■ The eccentric quantity of load (weight of the end effector and work piece) must be
200 mm or less. The LS20 series Manipulators are not designed to work with
eccentric quantity exceeding 200 mm.
parameter according to the eccentric quantity. Setting a value that is smaller
CAUTION
than the actual eccentric quantity may cause errors, excessive shock, insufficient
function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable eccentric quantity of load in LS20 series is 0 mm at the default rating and
200 mm at the maximum. When the eccentric quantity of load exceeds the rating, change
the setting of eccentric quantity parameter of Inertia command. After the setting is
changed, the maximum acceleration/deceleration speed of the Manipulator at PTP motion
corresponding to the "eccentric quantity" is set automatically.
Eccentric Quantity
Eccentric quantity of load on the shaft
The eccentric quantity of load (weight of the end effector and work piece) on the shaft can
be set by "eccentric quantity" parameter of Inertia command.
Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools] - [Robot
EPSON
RC+
Manager]). (You may also execute the Inertia command from the [Command Window].)
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
120
(%)
100
46
100
80
70
60
40
20
0 50 100
Always set the eccentric quantity
Rotation center
Position of load's center of gravity
Eccentric quantity (200 mm or less)
50
25
150 200 (mm)
* The percentage in the graph is
based on the acceleration /
deceleration at rated eccentricity
(0 mm) as 100%.
Eccentricity setting
LS20 Rev.4